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Misty Community Forum

2019.08.28 Release Notes

Greetings, Misty developers!

We’re excited to announce Misty’s latest system update. Along with other bug fixes and improvements, this update enhances Misty’s built-in obstacle avoidance capabilities by enabling the hazards system for the front and rear facing time-of-flight sensors. Additionally, we’ve enabled a few new LED and audio notifications, so you can know the status of certain processes (like face training) without glancing back at your PC. Read the full announcement to see how these changes will impact your skills and robot applications.

Thanks, as always, for being one of the first developers for Misty II. As software on treads, the Misty platform will improve with regular updates in the weeks, months, and years to come. Your feedback shapes the platform and the future of personal robots, and we can’t wait to hear what you think!

Installing the Update

Misty’s software updates are delivered as over-the-air (“OTA”) updates, and Misty checks for updates each time she boots up. This release will be available to your Misty II within the next 24-48 hours (the precise timing varies by region). If Misty doesn’t automatically download the update the next time she boots up, you can check to see if the update is available via Misty’s Command Center.

Misty reboots once during a system update. All commands except Halt and Stop are disabled while Misty is updating. If Misty starts installing an update while she’s charging, do not disconnect her from her power source until the update is finished and her eyes are fully open.

If you have issues with a system update or need technical assistance for other reasons, for the quickest response you can:

  • Post a message to the Support category here in the Community forums. Mention @support in your post.
  • Contact the Misty support team through the chat embedded in this site, or by emailing

Release Contents

Note: The following provides versioning information for field trial Misty II prototypes. Misty I robots will not be updated with this release.

  • Misty II FEP - Updates
    • Window IoT Core OS: version 10.0.17134 or higher - No updates
    • Android OS: (8.1) No updates
    • Home Robot App: version
    • MC firmware: version
    • RT firmware: version
    • Sensory Services App: version
  • Misty II EP2 - Updates
    • Window IoT Core OS: version 10.0.17134 or higher - No updates
    • Android OS: (8.1) No updates
    • Home Robot app: version
    • MC firmware: version
    • RT firmware: version
    • Sensory Service app: version
  • Misty I - No Updates
    • Window IoT Core OS: version 10.0.17134 or higher - No updates
    • Android OS: (7) No updates
    • Home Robot app: version - No Updates
    • MC firmware: version - No Updates
    • RT firmware: version - No Updates
    • Sensory Service app: version - No Updates

Web-Based Tools

  • Major changes listed


  • No major changes

New Features

  • Added new LED and audio notifications to the platform. Now, Misty communicates the status of certain processes through her hardware.
    • Misty communicates the status of the face training process by blinking her LED yellow or green
    • Misty shows that she is installing a system update by blinking her LED white.
    • Misty now plays a sound when you trigger a KeyPhraseRecognized (wake word) event.
    • You can use the new SetNotificationSettings endpoint in Misty’s REST API to disable these notifications, or to change which sound Misty should play for wake word events.
  • Updated the Advanced Options section of the Command Center interface to include the option to get a diagnostic report for your robot. When troubleshooting issues with your Misty II, you can use these controls to download a copy of your robot’s log files and device information to share with the Misty support team.

Bug Fixes & Improvements

Misty II

Breaking Changes

  • Removed the base64 argument from the misty.GetAudioFile() method in Misty’s JavaScript API. This method can only return audio data as a base64 string to the callback functions in your skills, so the presence of the base64 argument was misleading (and inconsistent with other methods that perform a similar function).

Time-of-Flight Sensors

  • Revised TimeOfFlight event messages to include status and type properties. The value of status can be used to determine the system’s confidence in the distance value the time-of-flight sensors produce, and the value of type tells you whether a particular message came from a Range or Edge time-of-flight sensor. For more information, see the TimeOfFlight article in Misty’s developer docs.
  • Adjusted the default regions of interest (ROI) for Misty’s time-of-flight sensors to improve sensor performance and enhance Misty’s hazards system.
  • Improved time-of-flight logging messages.


  • Calling the GetDeviceInfo command in Misty’s REST and JavaScript API now returns driver and firmware versions for Misty’s Occipital Structure Core depth sensor.
  • Misty now remembers the volume set with the SetDefaultVolume command across reboots, so you don’t have to re-send the command each time she boots up.

Known Issues

This following provides information about new known issues with this release. For a comprehensive list of known issues with the Misty platform, see the Known Issues section of the Community forums.

  • Driving Misty backwards with the Misty App causes jerky acceleration, specifically when the robot is driving backwards at full speed.
  • Misty’s hazards system sends a false positive HazardNotification message when Misty is maneuvering herself out of a hazard state.
  • The DriveStopped property in Misty’s HazardNotification messages does not update as it should when Misty’s bump sensors are activated.
  • Using Advanced Options controls in the Command Center to subscribe to TimeOfFlight messages only returns data from front right and left edge & range sensors to the web console.
  • Some of the values Misty returns in the SelfState.Location object are incorrect.
  • Arm movement commands behave inconsistently when you specify a Units value of position.